#ifndef PID_H
#define PID_H
#include "ros/ros.h"
#include <sstream>

namespace PID
{
    typedef float  f_PidDateType;
    typedef double d_PidDateType;
    typedef bool   b_PidDateType;
    class PidCore
    {
    public:  
     
        f_PidDateType m_currentError;
        f_PidDateType m_lastError; 
        f_PidDateType m_prevError; 
        f_PidDateType m_pidKp;
        f_PidDateType m_pidKi;
        f_PidDateType m_pidKd; 
        f_PidDateType m_p;
        f_PidDateType m_i;
        f_PidDateType m_d;
        d_PidDateType m_pidAngularvelocity; 
        d_PidDateType m_pidLinevelocity;
        d_PidDateType m_pidAddMax; 
        d_PidDateType m_pidAddMin;
        b_PidDateType Beam(f_PidDateType x, f_PidDateType y, f_PidDateType z);
        PidCore(d_PidDateType PID_add, f_PidDateType PID_p, f_PidDateType PID_i, f_PidDateType PID_d);
        static b_PidDateType Motor_Ctl(PidCore &PID_M, f_PidDateType leftX, f_PidDateType leftY, f_PidDateType leftZ,
                                       f_PidDateType rightX, f_PidDateType rightY, f_PidDateType rightZ);
    };

}
#endif
